hlrc

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...

 * This file is part of hlrc_client

 *

 * Copyright(c) sschulz <AT> techfak.uni-bielefeld.de

 * http://opensource.cit-ec.de/projects/hlrc_server

 *

 * This file may be licensed under the terms of the

 * GNU General Public License Version 3 (the ``GPL''),

 * or (at your option) any later version.

 *

 * Software distributed under the License is distributed

 * on an ``AS IS'' basis, WITHOUT WARRANTY OF ANY KIND, either

 * express or implied. See the GPL for the specific language

 * governing rights and limitations.

 *

 * You should have received a copy of the GPL along with this

 * program. If not, go to http://www.gnu.org/licenses/gpl.html

 * or write to the Free Software Foundation, Inc.,

 * 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301, USA.

 *

 * The development of this software was supported by the

 * Excellence Cluster EXC 277 Cognitive Interaction Technology.

 * The Excellence Cluster EXC 277 is a grant of the Deutsche

 * Forschungsgemeinschaft (DFG) in the context of the German

 * Excellence Initiative.

 *

 */

float rand_float(float min, float max) {

	float f = (float)rand() / RAND_MAX;

	return min + f * (max - min);

int main(int argc, char** argv) {

	if (argc != 3) {

		printf("usage: %s <middleware> <robot scope>\n", argv[0]);

		printf("       <middleware> is either ROS or RSB\n");

		printf("       <robot scope> e.g. /flobi or /icub\n\n");

		exit(EXIT_FAILURE);

	}

	RobotController* robot_controller = new RobotController(argv[1], argv[2]); //"/flobi");

	// robot_controller->set_current_emotion(RobotEmotion(RobotEmotion::NEUTRAL));

	RobotGaze gaze;

	int count = 0;

	while (1) {

		if (count++ >= 50) {

			// a new target every second:

			gaze.pan = rand_float(-20.0, 20.0);

			// absolute mode

			gaze.gaze_type = RobotGaze::ABSOLUTE;

			gaze.gaze_timestamp = RobotTimestamp::now();

			// robot_controller->set_current_emotion(RobotEmotion(RobotEmotion::ANGRY));

			// reset counter

		robot_controller->set_gaze_target(gaze);

		usleep(1000 / 50 * 1000);

	}

 * This file is part of hlrc_client

 *

 * Copyright(c) sschulz <AT> techfak.uni-bielefeld.de

 * http://opensource.cit-ec.de/projects/hlrc_server

 *

 * This file may be licensed under the terms of the

 * GNU General Public License Version 3 (the ``GPL''),

 * or (at your option) any later version.

 *

 * Software distributed under the License is distributed

 * on an ``AS IS'' basis, WITHOUT WARRANTY OF ANY KIND, either

 * express or implied. See the GPL for the specific language

 * governing rights and limitations.

 *

 * You should have received a copy of the GPL along with this

 * program. If not, go to http://www.gnu.org/licenses/gpl.html

 * or write to the Free Software Foundation, Inc.,

 * 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301, USA.

 *

 * The development of this software was supported by the

 * Excellence Cluster EXC 277 Cognitive Interaction Technology.

 * The Excellence Cluster EXC 277 is a grant of the Deutsche

 * Forschungsgemeinschaft (DFG) in the context of the German

 * Excellence Initiative.

 *

 */

int main(int argc, char** argv) {

	RobotController* robot_controller = new RobotController("RSB", "/flobi");

	int count = 0;

	printf("> speech test starting.\n");

	robot_controller->set_speak("i will start counting now.\n", BLOCKING);

	while (1) {

		std::string text = std::to_string(count++);

		printf("> saying '%s'\n", text.c_str());

		robot_controller->set_speak(text, BLOCKING);

		sleep(1);

	}

 * This file is part of hlrc

 *

 * Copyright(c) sschulz <AT> techfak.uni-bielefeld.de

 * http://opensource.cit-ec.de/projects/hlrc

 *

 * This file may be licensed under the terms of the

 * GNU General Public License Version 3 (the ``GPL''),

 * or (at your option) any later version.

 *

 * Software distributed under the License is distributed

 * on an ``AS IS'' basis, WITHOUT WARRANTY OF ANY KIND, either

 * express or implied. See the GPL for the specific language

 * governing rights and limitations.

 *

 * You should have received a copy of the GPL along with this

 * program. If not, go to http://www.gnu.org/licenses/gpl.html

 * or write to the Free Software Foundation, Inc.,

 * 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301, USA.

 *

 * The development of this software was supported by the

 * Excellence Cluster EXC 277 Cognitive Interaction Technology.

 * The Excellence Cluster EXC 277 is a grant of the Deutsche

 * Forschungsgemeinschaft (DFG) in the context of the German

 * Excellence Initiative.

 *

 */

// allow direct synthesis using inprotk calls. by default this is disabled

// until inprotk gets to an usable state (e.g. the completion flag has to work)

class Middleware {

	Middleware(std::string scope);

	void set_default_emotion(RobotEmotion e, bool blocking);

	void set_current_emotion(RobotEmotion e, bool blocking);

	void set_gaze_target(RobotGaze target, bool blocking);

	void set_lookat_target(float x, float y, float z, const std::string frame_id, bool blocking, float roll);

	void set_mouth_target(RobotMouth target, bool blocking);

	void set_head_animation(RobotHeadAnimation a, bool blocking);

	void set_speak(std::string text, bool blocking);

	RobotEmotion get_current_emotion();

	RobotEmotion get_default_emotion();

	RobotGaze get_gaze_target();

	virtual void init() = 0;

	virtual void publish_default_emotion(RobotEmotion e, bool blocking) = 0;

	virtual void publish_current_emotion(RobotEmotion e, bool blocking) = 0;

	virtual void publish_gaze_target(RobotGaze g, bool blocking) = 0;

	virtual void publish_lookat_target(float x, float y, float z, const std::string frame_id, bool blocking, float roll) = 0;

	virtual void publish_mouth_target(RobotMouth m, bool blocking) = 0;

	virtual void publish_head_animation(RobotHeadAnimation a, bool blocking) = 0;

	virtual void publish_speech(std::string text, bool blocking) = 0;

	std::string base_scope;

	RobotEmotion defaultEmotion;

	RobotEmotion currentEmotion;

	RobotGaze gazeTarget;

	RobotMouth mouthTarget;

	RobotHeadAnimation headAnimation;

 * This file is part of hlrc

 *

 * Copyright(c) sschulz <AT> techfak.uni-bielefeld.de

 * http://opensource.cit-ec.de/projects/hlrc

 *

 * This file may be licensed under the terms of the

 * GNU General Public License Version 3 (the ``GPL''),

 * or (at your option) any later version.

 *

 * Software distributed under the License is distributed

 * on an ``AS IS'' basis, WITHOUT WARRANTY OF ANY KIND, either

 * express or implied. See the GPL for the specific language

 * governing rights and limitations.

 *

 * You should have received a copy of the GPL along with this

 * program. If not, go to http://www.gnu.org/licenses/gpl.html

 * or write to the Free Software Foundation, Inc.,

 * 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301, USA.

 *

 * The development of this software was supported by the

 * Excellence Cluster EXC 277 Cognitive Interaction Technology.

 * The Excellence Cluster EXC 277 is a grant of the Deutsche

 * Forschungsgemeinschaft (DFG) in the context of the German

 * Excellence Initiative.

 *

 */

#include "ros/ros.h"

// ros messages

#include <hlrc_server/phoneme.h>

#include <hlrc_server/soundchunk.h>

#include <hlrc_server/gazetargetAction.h>

#include <hlrc_server/lookattargetAction.h>

#include <hlrc_server/animationAction.h>

#include <hlrc_server/mouthtargetAction.h>

#include <hlrc_server/utteranceAction.h>

#include <hlrc_server/emotionstateAction.h>

#include <hlrc_server/speechAction.h>

#include <actionlib/client/simple_action_client.h>

#include <actionlib/client/terminal_state.h>

#include <boost/shared_ptr.hpp>

class MiddlewareROS : public Middleware {

	MiddlewareROS(std::string scope) : Middleware(scope) {

		printf("> ERROR: hlrc was compiled without ROS middleware support. Please use MiddlewareRSB() instead!\n\n");

		exit(EXIT_FAILURE);

	}

	void init(){};

	void publish_default_emotion(RobotEmotion e, bool blocking){};

	void publish_current_emotion(RobotEmotion e, bool blocking){};

	void publish_gaze_target(RobotGaze g, bool blocking){};

	void publish_lookat_target(float x, float y, float z, const std::string frame_id, bool blocking, float roll){};

	void publish_mouth_target(RobotMouth m, bool blocking){};

	void publish_head_animation(RobotHeadAnimation a, bool blocking){};

	void publish_speech(std::string text, bool blocking){};

	MiddlewareROS(std::string scope);

	void init();

	void publish_current_emotion(RobotEmotion e, bool blocking);

	void publish_default_emotion(RobotEmotion e, bool blocking);

	void publish_gaze_target(RobotGaze target, bool blocking);

	void publish_lookat_target(float x, float y, float z, const std::string frame_id, bool blocking, float roll);

	void publish_mouth_target(RobotMouth target, bool blocking);

	void publish_head_animation(RobotHeadAnimation a, bool blocking);

	void publish_speech(std::string text, bool blocking);

	void publish_emotion(std::string scope_target, RobotEmotion e, bool blocking);

	void check_service(ros::ServiceClient* service);

	actionlib::SimpleActionClient<hlrc_server::animationAction>* animation_ac;

	actionlib::SimpleActionClient<hlrc_server::utteranceAction>* utterance_ac;

	actionlib::SimpleActionClient<hlrc_server::emotionstateAction>* default_emotionstate_ac;

	actionlib::SimpleActionClient<hlrc_server::emotionstateAction>* current_emotionstate_ac;

	actionlib::SimpleActionClient<hlrc_server::gazetargetAction>* gazetarget_ac;

	actionlib::SimpleActionClient<hlrc_server::lookattargetAction>* lookattarget_ac;

	actionlib::SimpleActionClient<hlrc_server::mouthtargetAction>* mouthtarget_ac;

	actionlib::SimpleActionClient<hlrc_server::speechAction>* speech_ac;

 * This file is part of hlrc

 *

 * Copyright(c) sschulz <AT> techfak.uni-bielefeld.de

 * http://opensource.cit-ec.de/projects/hlrc

 *

 * This file may be licensed under the terms of the

 * GNU General Public License Version 3 (the ``GPL''),

 * or (at your option) any later version.

 *

 * Software distributed under the License is distributed

 * on an ``AS IS'' basis, WITHOUT WARRANTY OF ANY KIND, either

 * express or implied. See the GPL for the specific language

 * governing rights and limitations.

 *

 * You should have received a copy of the GPL along with this

 * program. If not, go to http://www.gnu.org/licenses/gpl.html

 * or write to the Free Software Foundation, Inc.,

 * 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301, USA.

 *

 * The development of this software was supported by the

 * Excellence Cluster EXC 277 Cognitive Interaction Technology.

 * The Excellence Cluster EXC 277 is a grant of the Deutsche

 * Forschungsgemeinschaft (DFG) in the context of the German

 * Excellence Initiative.

 *

 */

#define BOOST_SIGNALS_NO_DEPRECATION_WARNING // mute warnings from RSB

#include <rsb/Factory.h>

#include <rsb/Informer.h>

#include <rsb/Listener.h>

#if USE_INPROTK_SYNTHESIS

#include <rst/communicationpatterns/TaskState.pb.h>

#endif

class MiddlewareRSB : public Middleware {

	MiddlewareRSB(std::string scope) : Middleware(scope) {

		printf("> ERROR: hlrc was compiled without RSB middleware support. Please use MiddlewareROS() instead!\n\n");

		exit(EXIT_FAILURE);

	}

	void init(){};

	void publish_default_emotion(RobotEmotion e, bool blocking){};

	void publish_current_emotion(RobotEmotion e, bool blocking){};

	void publish_gaze_target(RobotGaze g, bool blocking){};

	void publish_lookat_target(float x, float y, float z, const std::string frame_id, bool blocking, float roll){};

	void publish_mouth_target(RobotMouth m, bool blocking){};

	void publish_head_animation(RobotHeadAnimation a, bool blocking){};

	void publish_speech(std::string text, bool blocking){};

	MiddlewareRSB(std::string scope);

	void init();

	void publish_current_emotion(RobotEmotion e, bool blocking);

	void publish_default_emotion(RobotEmotion e, bool blocking);

	void publish_gaze_target(RobotGaze target, bool blocking);

	void publish_lookat_target(float x, float y, float z, const std::string frame_id, bool blocking, float roll);

	void publish_mouth_target(RobotMouth target, bool blocking);

	void publish_head_animation(RobotHeadAnimation a, bool blocking);

	void publish_speech(std::string text, bool blocking);

	void publish_emotion(std::string scope_target, RobotEmotion e, bool blocking);

	// rsb::patterns::RemoteServerPtr inprotk_server;

	rsb::patterns::RemoteServerPtr hlrc_server;

	// rsb::patterns::LocalServerPtr inprotk_server;

	rsb::Informer<rst::communicationpatterns::TaskState>::Ptr inprotk_informer;

	rsb::ListenerPtr inprotk_listener;

	rsb::ListenerPtr hack_listener;

	boost::mutex pending_tasks_mutex;

	std::vector<boost::shared_ptr<rst::communicationpatterns::TaskState> > pending_tasks;

	unsigned int say_task_active;

	unsigned int say_task_done;

	boost::mutex current_saytask_mutex;

	std::string current_saytask;

	std::string get_current_saytask();

	void set_current_saytask(std::string text);

	void check_for_inprotk();

	void incoming_hack(boost::shared_ptr<std::string> finished_task);

 * This file is part of hlrc

 *

 * Copyright(c) sschulz <AT> techfak.uni-bielefeld.de

 * http://opensource.cit-ec.de/projects/hlrc

 *

 * This file may be licensed under the terms of the

 * GNU General Public License Version 3 (the ``GPL''),

 * or (at your option) any later version.

 *

 * Software distributed under the License is distributed

 * on an ``AS IS'' basis, WITHOUT WARRANTY OF ANY KIND, either

 * express or implied. See the GPL for the specific language

 * governing rights and limitations.

 *

 * You should have received a copy of the GPL along with this

 * program. If not, go to http://www.gnu.org/licenses/gpl.html

 * or write to the Free Software Foundation, Inc.,

 * 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301, USA.

 *

 * The development of this software was supported by the

 * Excellence Cluster EXC 277 Cognitive Interaction Technology.

 * The Excellence Cluster EXC 277 is a grant of the Deutsche

 * Forschungsgemeinschaft (DFG) in the context of the German

 * Excellence Initiative.

 *

 */

class RobotController {

	RobotController(std::string middleware, std::string scope);

	void set_default_emotion(RobotEmotion e, bool blocking = false);

	void set_current_emotion(RobotEmotion e, bool blocking = false);

	void set_gaze_target(RobotGaze target, bool blocking = false);

	RobotGaze get_gaze_target();

	void set_lookat_target(float x, float y, float z, const std::string frame_id = "", bool blocking = false,

	                       float roll = 0.0);

	void set_mouth_target(RobotMouth target, bool blocking = false);

	void set_head_animation(RobotHeadAnimation a, bool blocking = false);

	void set_speak(std::string text, bool blocking = false);

	Middleware* middleware;

 * This file is part of hlrc

 *

 * Copyright(c) sschulz <AT> techfak.uni-bielefeld.de

 * http://opensource.cit-ec.de/projects/hlrc

 *

 * This file may be licensed under the terms of the

 * GNU General Public License Version 3 (the ``GPL''),

 * or (at your option) any later version.

 *

 * Software distributed under the License is distributed

 * on an ``AS IS'' basis, WITHOUT WARRANTY OF ANY KIND, either

 * express or implied. See the GPL for the specific language

 * governing rights and limitations.

 *

 * You should have received a copy of the GPL along with this

 * program. If not, go to http://www.gnu.org/licenses/gpl.html

 * or write to the Free Software Foundation, Inc.,

 * 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301, USA.

 *

 * The development of this software was supported by the

 * Excellence Cluster EXC 277 Cognitive Interaction Technology.

 * The Excellence Cluster EXC 277 is a grant of the Deutsche

 * Forschungsgemeinschaft (DFG) in the context of the German

 * Excellence Initiative.

 *

 */

class RobotEmotion {

	RobotEmotion(int v = NEUTRAL) {

		value = v;

		time_ms = 1000;

	}

	int value;

	static const int NEUTRAL = 0;

	static const int HAPPY = 1;

	static const int SAD = 2;

	static const int ANGRY = 3;

	static const int SURPRISED = 4;

	static const int FEAR = 5;

	int time_ms;

 * This file is part of hlrc

 *

 * Copyright(c) sschulz <AT> techfak.uni-bielefeld.de

 * http://opensource.cit-ec.de/projects/hlrc

 *

 * This file may be licensed under the terms of the

 * GNU General Public License Version 3 (the ``GPL''),

 * or (at your option) any later version.

 *

 * Software distributed under the License is distributed

 * on an ``AS IS'' basis, WITHOUT WARRANTY OF ANY KIND, either

 * express or implied. See the GPL for the specific language

 * governing rights and limitations.

 *

 * You should have received a copy of the GPL along with this

 * program. If not, go to http://www.gnu.org/licenses/gpl.html

 * or write to the Free Software Foundation, Inc.,

 * 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301, USA.

 *

 * The development of this software was supported by the

 * Excellence Cluster EXC 277 Cognitive Interaction Technology.

 * The Excellence Cluster EXC 277 is a grant of the Deutsche

 * Forschungsgemeinschaft (DFG) in the context of the German

 * Excellence Initiative.

 *

 */

class RobotGaze {

	RobotGaze() : gaze_timestamp() {

		pan = 0.0;

		tilt = 0.0;

		roll = 0.0;

		vergence = 0.0;

		pan_offset = 0.0;

		tilt_offset = 0.0;

		gaze_type = ABSOLUTE;

	}

	/*static double now(){

	    //fetch time

	    struct timespec tp;

	    clock_gettime(CLOCK_REALTIME, &tp);

	    return tp.tv_sec+tp.tv_nsec/1000000000.0;

	};*/

	enum

	{

		RELATIVE = 0,

		ABSOLUTE = 1

	};

	RobotTimestamp gaze_timestamp;

	int gaze_type;

	float pan, tilt, roll, vergence;

	float pan_offset, tilt_offset;

 * This file is part of hlrc

 *

 * Copyright(c) sschulz <AT> techfak.uni-bielefeld.de

 * http://opensource.cit-ec.de/projects/hlrc

 *

 * This file may be licensed under the terms of the

 * GNU General Public License Version 3 (the ``GPL''),

 * or (at your option) any later version.

 *

 * Software distributed under the License is distributed

 * on an ``AS IS'' basis, WITHOUT WARRANTY OF ANY KIND, either

 * express or implied. See the GPL for the specific language

 * governing rights and limitations.

 *

 * You should have received a copy of the GPL along with this

 * program. If not, go to http://www.gnu.org/licenses/gpl.html

 * or write to the Free Software Foundation, Inc.,

 * 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301, USA.

 *

 * The development of this software was supported by the

 * Excellence Cluster EXC 277 Cognitive Interaction Technology.

 * The Excellence Cluster EXC 277 is a grant of the Deutsche

 * Forschungsgemeinschaft (DFG) in the context of the German

 * Excellence Initiative.

 *

 */

class RobotHeadAnimation {

	RobotHeadAnimation(int v = IDLE) {

		value = v;

		time_ms = 1000;

		repetitions = 1;

		scale = 1.0;

	}

	int value;

	static const int IDLE = 0;

	static const int HEAD_NOD = 1;

	static const int HEAD_SHAKE = 2;

	static const int EYEBLINK_L = 3;

	static const int EYEBLINK_R = 4;

	static const int EYEBLINK_BOTH = 5;

	static const int EYEBROWS_RAISE = 6;

	static const int EYEBROWS_LOWER = 7;

	static const int ENGAGEMENT_LEFT = 8;

	static const int ENGAGEMENT_RIGHT = 9;

	int time_ms;

	int repetitions;

	float scale;

 * This file is part of hlrc

 *

 * Copyright(c) sschulz <AT> techfak.uni-bielefeld.de

 * http://opensource.cit-ec.de/projects/hlrc

 *

 * This file may be licensed under the terms of the

 * GNU General Public License Version 3 (the ``GPL''),

 * or (at your option) any later version.

 *

 * Software distributed under the License is distributed

 * on an ``AS IS'' basis, WITHOUT WARRANTY OF ANY KIND, either

 * express or implied. See the GPL for the specific language

 * governing rights and limitations.

 *

 * You should have received a copy of the GPL along with this

 * program. If not, go to http://www.gnu.org/licenses/gpl.html

 * or write to the Free Software Foundation, Inc.,

 * 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301, USA.

 *

 * The development of this software was supported by the

 * Excellence Cluster EXC 277 Cognitive Interaction Technology.

 * The Excellence Cluster EXC 277 is a grant of the Deutsche

 * Forschungsgemeinschaft (DFG) in the context of the German

 * Excellence Initiative.

 *

 */

class RobotMouth {

	RobotMouth() {

		opening_left = 0.0;

		opening_center = 0.0;

		opening_right = 0.0;

		position_left = 0.0;

		position_center = 0.0;

		position_right = 0.0;

	}

	float opening_left, opening_right, opening_center;

	float position_left, position_right, position_center;

 * This file is part of hlrc

 *

 * Copyright(c) sschulz <AT> techfak.uni-bielefeld.de

 * http://opensource.cit-ec.de/projects/hlrc

 *

 * This file may be licensed under the terms of the

 * GNU General Public License Version 3 (the ``GPL''),

 * or (at your option) any later version.

 *

 * Software distributed under the License is distributed

 * on an ``AS IS'' basis, WITHOUT WARRANTY OF ANY KIND, either

 * express or implied. See the GPL for the specific language

 * governing rights and limitations.

 *

 * You should have received a copy of the GPL along with this

 * program. If not, go to http://www.gnu.org/licenses/gpl.html

 * or write to the Free Software Foundation, Inc.,

 * 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301, USA.

 *

 * The development of this software was supported by the

 * Excellence Cluster EXC 277 Cognitive Interaction Technology.

 * The Excellence Cluster EXC 277 is a grant of the Deutsche

 * Forschungsgemeinschaft (DFG) in the context of the German

 * Excellence Initiative.

 *

 */

	RobotTimestamp() {

		RobotTimestamp n = now();

		sec = n.sec;

		nsec = n.nsec;

	}

	RobotTimestamp(int32_t _sec, int32_t _nsec) {

		sec = _sec;

		nsec = _nsec;

	}

	static RobotTimestamp now() {

		// fetch time

		struct timespec tp;

		clock_gettime(CLOCK_REALTIME, &tp);

		return RobotTimestamp(tp.tv_sec, tp.tv_nsec);

	};

	int32_t sec;

	int32_t nsec;

 * This file is part of hlrc

 *

 * Copyright(c) sschulz <AT> techfak.uni-bielefeld.de

 * http://opensource.cit-ec.de/projects/hlrc

 *

 * This file may be licensed under the terms of the

 * GNU General Public License Version 3 (the ``GPL''),

 * or (at your option) any later version.

 *

 * Software distributed under the License is distributed

 * on an ``AS IS'' basis, WITHOUT WARRANTY OF ANY KIND, either

 * express or implied. See the GPL for the specific language

 * governing rights and limitations.